center: [0.45, 0.0, 0.0]
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
objects:

- object_id: active_perception/omni_objects/chair/chair_026
  xyz: [-0.009905957616865635, -0.0006897700950503349, 0.2330494225025177]
  rpy: [89.85154555727759, 0.11062219744894629, -1.917913410546049]
  scale: 1.0

- object_id: active_perception/omni_objects/ginger/ginger_039
  xyz: [0.02515360713005066, -0.06371907144784927, 0.27924156188964844]
  rpy: [-3.935427648505831, -17.051792168001448, -24.95523394180156]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_037
  xyz: [0.03158880025148392, -0.033288054168224335, 0.0037636063061654568]
  rpy: [-30.149510864979153, -7.895539495149477, 53.996028646439996]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_045
  xyz: [-0.1293104588985443, -0.0777326375246048, 0.0003228990244679153]
  rpy: [-92.8157472740429, -66.74297844515108, 102.07015537613053]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_120
  xyz: [0.04060060530900955, 0.0793246328830719, 0.2613307535648346]
  rpy: [-5.401942328176542, 3.2116895374939864, -89.61676169562682]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_060
  xyz: [0.10124217718839645, -0.04856496304273605, 0.02158781886100769]
  rpy: [-172.21001443759462, -16.136283487745665, 154.9075908660021]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_043
  xyz: [0.09215854853391647, -0.021680809557437897, 0.27092188596725464]
  rpy: [94.26453802036845, 82.58728293127864, 94.24735404410646]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_037
  xyz: [-0.06733741611242294, -0.047576259821653366, 0.2778187692165375]
  rpy: [96.30550962615544, 76.18014805847915, -107.79935257364184]
  scale: 1.0